orocos_kdl
trajectory_stationary.hpp
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1 /*****************************************************************************
2  * \author
3  * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
4  *
5  * \version
6  * LRL V0.2
7  *
8  * \par History
9  * - $log$
10  *
11  * \par Release
12  * $Id: trajectory_stationary.h 22 2004-09-21 08:58:54Z eaertbellocal $
13  * $Name: $
14  ****************************************************************************/
15 
16 #ifndef TRAJECTORY_STATIONARY_H
17 #define TRAJECTORY_STATIONARY_H
18 
19 #include "trajectory.hpp"
20 
21 
22 namespace KDL {
28  class Trajectory_Stationary : public Trajectory
29  {
30  double duration;
31  Frame pos;
32  public:
33  Trajectory_Stationary(double _duration,const Frame& _pos):
34  duration(_duration),pos(_pos) {}
35  virtual double Duration() const {
36  return duration;
37  }
38  virtual Frame Pos(double time) const {
39  return pos;
40  }
41  virtual Twist Vel(double time) const {
42  return Twist::Zero();
43  }
44  virtual Twist Acc(double time) const {
45  return Twist::Zero();
46  }
47  virtual void Write(std::ostream& os) const;
48 
49  virtual Trajectory* Clone() const {
51  }
52  virtual ~Trajectory_Stationary() {}
53  };
54 
55 
56 }
57 
58 #endif
KDL::Trajectory_Stationary::Write
virtual void Write(std::ostream &os) const
Definition: trajectory_stationary.cpp:34
KDL::Trajectory_Stationary::Pos
virtual Frame Pos(double time) const
Definition: trajectory_stationary.hpp:64
KDL::Trajectory_Stationary::Duration
virtual double Duration() const
Definition: trajectory_stationary.hpp:61
KDL
Definition: kukaLWR_DHnew.cpp:25
KDL::Trajectory_Stationary::pos
Frame pos
Definition: trajectory_stationary.hpp:57
KDL::Twist
represents both translational and rotational velocities.
Definition: frames.hpp:723
std::ostream
trajectory.hpp
KDL::Twist::Zero
static Twist Zero()
Definition: frames.inl:290
KDL::Trajectory_Stationary::Trajectory_Stationary
Trajectory_Stationary(double _duration, const Frame &_pos)
Definition: trajectory_stationary.hpp:59
KDL::Trajectory_Stationary::~Trajectory_Stationary
virtual ~Trajectory_Stationary()
Definition: trajectory_stationary.hpp:78
KDL::Trajectory_Stationary::duration
double duration
Definition: trajectory_stationary.hpp:56
KDL::Trajectory_Stationary::Clone
virtual Trajectory * Clone() const
Definition: trajectory_stationary.hpp:75
KDL::Trajectory_Stationary::Vel
virtual Twist Vel(double time) const
Definition: trajectory_stationary.hpp:67
KDL::Trajectory_Stationary::Acc
virtual Twist Acc(double time) const
Definition: trajectory_stationary.hpp:70